WO2019001036A1

WO2019001036A1 - Head structure of biomimetic robot, and biomimetic robot

Info

Publication number: WO2019001036A1
Application number: PCT/CN2018/079854
Authority: WO
Inventors: 刘若鹏; 詹庆鑫; 赵洪乐; 李璟; 肖力子; 赵金玉; 徐磊; 欧阳一村
Original assignee: 深圳光启合众科技有限公司; 深圳光启创新技术有限公司
Priority date: 2017-06-30
Filing date: 2018-03-21
Publication date: 2019-01-03
Also published as: CN109202915A

Abstract

A head structure of a biomimetic robot, and a biomimetic robot. The head structure comprises a support frame (100) and an eyebrow simulation mechanism (200). The eyebrow simulation mechanism comprises: an eyebrow (210), an eyebrow driving assembly (220) provided on the support frame; and an eyebrow connecting arm assembly (230), a first end of the eyebrow connecting arm assembly being pivotally connected to the support frame, the eyebrow being provided at a second end of the eyebrow connecting arm assembly, and a driving end of the eyebrow driving assembly being connected to the eyebrow connecting arm assembly or the eyebrow to drive the eyebrow to move to achieve eyebrow raising action or frown action of the eyebrow simulation mechanism. The biomimetic robot resolves the problem in the prior art of a poor simulation effect due to that the biomimetic robot is only capable of simulating a single facial expression of a person as the head structure of the biomimetic robot cannot achieve eyebrow raising action and frown action.

Description

Head structure and bionic robot of bionic robot

Technical field

The present invention relates to the field of robot technology, and in particular to a head structure and a bionic robot of a bionic robot.

Background technique

Bionic robots are robots that can imitate creatures and work on biological characteristics. For example, in western countries, mechanical pets are very popular. Bionic sparrow robots can serve as environmental monitoring tasks. For example, humanoid robots can provide many convenient services for humans. Bionic robots are getting more and more people's attention and have a good development prospect.

technical problem

In order to make the bionic robot simulate the characteristics of the creature more realistically, the bionic robot usually has a head structure, which can easily simulate the blinking, opening, and the like of the creature, and the eyebrow of the existing bionic robot is usually fixed at the head. Structurally, therefore, existing bionic robots cannot simulate human eyebrows and frowning movements, thus making existing bionic robots unable to more realistically imitate facial expressions when people are happy or angry, resulting in a single expression of the bionic robot, simulation effect difference.

Technical solution

The main object of the present invention is to provide a head structure and a bionic robot of a bionic robot, so as to solve the problem that the head structure of the bionic robot in the prior art cannot realize the raising of the eyebrow and the frowning motion, and the bionic robot simulates the facial expression of the human being, and simulates Poor effect.

In order to achieve the above object, according to an aspect of the present invention, a head structure of a bionic robot includes a support frame and an eyebrow simulation mechanism, and the eyebrow simulation mechanism includes: an eyebrow; an eyebrow drive assembly disposed on the support frame The eyebrow connecting arm assembly, the first end of the eyebrow connecting arm assembly is pivotally connected with the support frame, the eyebrow is disposed at the second end of the eyebrow connecting arm assembly, and the driving end of the eyebrow driving assembly and the eyebrow connecting arm The components or eyebrows are connected to drive the eyebrows to swing.

Further, the eyebrow connecting arm assembly includes a first eyebrow connecting arm and a second eyebrow connecting arm connected in a direction away from the eyebrow, wherein an end of the first eyebrow connecting arm away from the eyebrow is along the second eyebrow The longitudinal direction of the connecting arm is slidably coupled to the second eyebrow connecting arm.

Further, the eyebrow simulation mechanism further includes a pivot shaft, and the second eyebrow connecting arm is connected to the support frame through the pivot shaft, and the axial direction of the pivot shaft is disposed at an angle with the vertical direction.

Further, the support frame comprises a top plate, and the eyebrow drive assembly comprises: an eyebrow drive steering gear disposed on the top plate; the eyebrow drive rod, the first end of the eyebrow drive rod pivotally connected with the steering wheel of the eyebrow drive steering gear The second end of the eyebrow drive rod is pivotally coupled to the first eyebrow link arm.

Further, the support frame includes a bottom plate and a face support plate disposed on the bottom plate, the head structure further includes a face simulation mechanism, and the face simulation mechanism includes a face-driven steering servo, a face connecting arm and a face connected in sequence Wherein, the face driving servo is disposed on the face support plate, and the face connecting arm is connected with the steering wheel of the face driving steering gear to drive the face swing to simulate the movement of the muscle at the face.

Further, both the eyebrow simulation mechanism and the face simulation mechanism are two, the support frame has a longitudinal symmetry plane along the vertical direction, and the two eyebrow simulation mechanisms and the two face simulation mechanisms are symmetrically disposed in the longitudinal symmetry plane. On both sides.

Further, the support frame comprises a bottom plate and an eye support plate connected to the bottom plate, the head structure further comprises an eye simulation mechanism, the eye simulation mechanism comprises: an eyeball portion, the eyeball portion is connected with the eye support plate; the eyelid portion and the eyelid portion a pivotal connection with the eye support plate, the eyelid portion moving between a closed position covering the eyeball portion and an open position exposing the eyeball portion; the eyelid driving assembly, the eyelid driving assembly driving the eyelid portion in the closed position and the open position The movement of the eye simulates the blinking action of the eye simulation mechanism.

Further, the eyeball portion and the eyelid portion are both, the support frame has a longitudinal symmetry plane along the vertical direction, and the two eyeball portions are symmetrically disposed on both sides of the longitudinal symmetry plane, and the two eyelid portions and the two eyeball portions are one by one. Corresponding settings.

Further, the eyeball portion has a lateral symmetry plane, the eyelid portion includes an upper eyelid and a lower eyelid, and the upper eyelid and the lower eyelid are symmetrically disposed on both sides of the lateral symmetry plane.

Further, the support frame further includes a first motor support plate disposed on the bottom plate, and the eyelid drive assembly includes: an eyelid drive steering gear disposed on the first motor support plate; an eyelid drive assembly including a transition rocker arm and two One eyelid driving rod, one end of the transition rocker arm is pivotally connected with the steering wheel of the eyelid driving steering gear, and the first ends of the two eyelid driving rods are connected with one end of the transition rocker arm driving the steering gear away from the eyelid portion, The second ends of the two eyelid drive rods are pivotally coupled to the upper and lower eyelids, respectively.

Further, the eye simulation mechanism further includes a support arm and a universal joint, the first end of the support arm is coupled to the eye support plate, and the second end of the support arm is hinged to the eyeball portion through the universal joint.

Further, the support frame further comprises a top plate and two intermediate ribs, the top plate is opposite to the bottom plate, the two intermediate rib plates are disposed between the top plate and the bottom plate and are spaced apart, and the eye simulation mechanism further comprises a first eyeball drive The component comprises: a first eyeball driving steering gear disposed on the bottom plate; a first eyeball driving lever, the first end of the first eyeball driving lever is pivotally connected with the steering wheel of the first eyeball driving steering gear; a rod assembly, the rotating rod assembly is rotatably disposed between the two intermediate ribs, the second end of the first eyeball driving rod is hinged with the rotating rod assembly to drive the rotating rod assembly to rotate; the first eyeball follower rod, the first The first end of the ball follower rod is pivotally connected with the rotating rod assembly, and the second end of the first eyeball follower rod is hinged with the upper end or the lower end of the eyeball portion to drive the eyeball portion to rotate in the vertical direction around the supporting arm.

Further, the rotating rod assembly comprises: a rotating rod, the rotating rod is rotatably supported between the two intermediate ribs, and the two ends of the rotating rod respectively pass through the two intermediate ribs; the active swinging rod, the active swinging rod and the rotating The rod is connected, the first eyeball driving rod is hinged with the active swinging rod; the driven swinging rod, the driven swinging rod is disposed at the end of the rotating rod, and the first eyeball driven rod is pivotally connected with the driven swinging rod.

Further, the active swing lever is disposed at an intermediate position of the swing lever, and the driven swing lever is located at a side of the intermediate rib that faces away from the active swing lever.

Further, the active swing lever and the driven swing lever are disposed at an angle.

Further, the eye simulation mechanism further includes a second eyeball driving component, including: a second eyeball driving steering gear disposed on the bottom plate; a transmission component, the second eyeball driving steering gear is connected to the eyeball portion through the transmission component to drive The eyeball rotates in the horizontal direction around the support arm.

Further, the transmission component comprises: a transmission rotating rod, the first end of the transmission rotating rod is pivotally connected with the bottom plate, the second end of the transmission rotating rod forms a driving turntable, the axis of the driving rotating rod and the second eyeball drive the steering gear of the steering gear The axis of the disk is parallel; the synchronous link, the two ends of the synchronous link are respectively pivotally connected with the steering wheel and the driving dial of the second eyeball driving steering gear to realize synchronous rotation; the second eyeball follower lever, the second The first end of the eyeball follower rod is pivotally coupled to the drive dial, and the second end of the second eyeball follower rod is hinged to the eyeball portion.

Further, the support frame includes a bottom plate, and the head structure further includes a mouth simulation mechanism. The mouth simulation mechanism includes: an upper jaw portion fixedly connected to the bottom plate; a lower jaw portion movably disposed on the bottom plate, and the lower jaw portion away from the upper jaw portion. The direction and movement toward the upper jaw simulate the opening and closing of the mouth of the person; the lower jaw drive assembly, the lower jaw drive assembly is coupled to the lower jaw to drive the lower jaw to move away from or toward the upper jaw.

Further, the lower jaw portion is rotatably connected to the bottom plate, and the lower jaw driving assembly comprises: a lower jaw driving steering gear disposed on the bottom plate; a lower jaw connecting arm, the first end of the lower jaw connecting arm and the lower jaw driving the steering gear of the steering gear The disc is pivotally connected, and the second end of the lower jaw connecting arm is connected to the lower jaw.

Further, the head structure further includes a face skeleton, the face skeleton is connected with the support frame and located on the outer peripheral side of the eyebrow simulation mechanism, and the face skeleton is provided with a plurality of escape holes.

According to another aspect of the present invention, there is provided a bionic robot comprising the above described head structure.

Beneficial effect

According to the technical solution of the present invention, an eyebrow simulation mechanism is provided on a support frame of a head structure, and the eyebrow simulation mechanism includes an eyebrow portion, an eyebrow drive assembly and an eyebrow connection arm assembly, wherein the eyebrow drive assembly is disposed on the support The first end of the eyebrow connecting arm assembly is pivotally connected to the support frame, the eyebrow is disposed at the second end of the eyebrow connecting arm assembly, and the driving end of the eyebrow driving assembly is connected with the eyebrow connecting arm assembly or the eyebrow The eyebrows or the frowning action of the eyebrow simulation mechanism is realized by driving the eyebrows to swing. In this way, the eyebrow can be oscillated under the driving action of the eyebrow driving component, thereby achieving the effect of realistically simulating the movement of the eyebrow organ of the human body, and the other artificial organ components matched with the head structure can make the head structure more effective. Simulating facial expressions when people are happy or angry, increasing the diversity of head structure simulation expressions, and thus improving the simulation effect of bionic robots.

In addition, the eyebrow drive assembly is stably mounted on the support frame, and the eyebrow connection arm assembly reliably moves the eyebrow movement, and the entire eyebrow simulation mechanism has fewer moving structural parts, thereby ensuring the reliability of the eyebrow movement and making the bionic robot The head structure can smoothly complete the eyebrow motion or the frowning motion. Therefore, the bionic robot of the present invention not only improves the fidelity of the simulated human facial expression, but also has a high degree of automation and reduces the operational complexity of the bionic robot.

DRAWINGS

The accompanying drawings, which are incorporated in the claims of the claims In the drawing:

1 shows a front view of a head structure of a bionic robot in accordance with an alternative embodiment of the present invention;

FIG. 2 is a schematic view showing the structure of the head structure of FIG. 1 with the face skeleton omitted; FIG.

Figure 3 is a partial structural view showing the head structure of the eyebrow simulation mechanism of Figure 1;

4 is a schematic structural view of an eye support plate and a partial eye simulation mechanism of the head structure of FIG. 1;

5 is a partial structural view showing the head structure of the support frame, the face simulation mechanism, the eye simulation mechanism, and the mouth simulation mechanism of FIG. 1;

6 is a partial structural view showing another perspective view of the head structure of FIG. 1 with a support frame, a face simulation mechanism, an eye simulation mechanism, and a mouth simulation mechanism;

Fig. 7 is a partial structural view showing another perspective of the head structure of Fig. 1 with a support frame, a face simulation mechanism, an eye simulation mechanism, and a mouth simulation mechanism.

Wherein, the above figures include the following reference numerals:

100, support frame; 110, top plate; 120, bottom plate; 130, eye support plate; 140, first motor support plate; 150, intermediate rib plate; 160, face support plate; 200, eyebrow simulation mechanism; Eyebrow; 220, eyebrow drive assembly; 221, eyebrow drive steering gear; 222, eyebrow drive lever; 230, eyebrow link arm assembly; 231, first eyebrow link arm; 232, second eyebrow link arm 240, pivot axis; 300, facial simulation mechanism; 310, face drive steering gear; 320, face connecting arm; 330, face; 400, eye simulation mechanism; 410, eyeball; 420, eyelid 421, upper eyelid; 422, lower eyelid; 430, eyelid driving component; 431, eyelid driving servo; 432, eyelid driving component; 4321, rocker arm; 4322, eyelid driving rod; 440, support arm 450, universal joint; 460, first eyeball drive assembly; 461, first eyeball drive steering gear; 462, first eyeball drive rod; 463, rotating rod assembly; 4631, rotating rod; 4632, active pendulum Rod; 4633, driven swing lever; 464, first eyeball follower lever; 470, second eyeball drive assembly; 471 The second eyeball part drives the steering gear; 472, transmission component; 4721, transmission rotating rod; 4722, driving turntable; 4723, synchronous connecting rod; 4724, second eyeball follower rod; 500, mouth simulation mechanism; 510, upper jaw Department; 520, lower jaw; 530, lower jaw drive assembly; 531, lower jaw drive steering gear; 532, lower jaw connecting arm; 600, facial skeleton; 610, escape hole.

Embodiments of the invention

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. The following description of the at least one exemplary embodiment is merely illustrative and is in no way All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

In order to solve the problem that the head structure of the bionic robot in the prior art cannot realize the raising of the eyebrow and the frowning action, the bionic robot simulates a single facial expression and has a poor simulation effect, the present invention provides a head structure of the bionic robot and A bionic robot, wherein the bionic robot includes the head structures described above and below.

As shown in FIG. 2 and FIG. 3, the head structure of the bionic robot includes a support frame 100 and an eyebrow simulation mechanism 200. The eyebrow simulation mechanism 200 includes an eyebrow 210, an eyebrow drive assembly 220, and an eyebrow connection arm assembly 230. The driving unit 220 is disposed on the support frame 100. The first end of the eyebrow connecting arm assembly 230 is pivotally connected to the support frame 100, and the eyebrow 210 is disposed at the second end of the eyebrow connecting arm assembly 230. The eyebrow driving assembly 220 The driving end is connected to the eyebrow connecting arm assembly 230 or the eyebrow 210 to drive the eyebrows 210 to swing to realize the eyebrow motion or the frowning motion of the eyebrow simulation mechanism 200.

By providing an eyebrow simulation mechanism 200 on the support frame 100 of the head structure, the eyebrow simulation mechanism 200 includes an eyebrow 210, an eyebrow drive assembly 220, and an eyebrow attachment arm assembly 230, wherein the eyebrow drive assembly 220 is disposed on the support On the frame 100, the first end of the eyebrow connecting arm assembly 230 is pivotally connected to the support frame 100, the eyebrow 210 is disposed at the second end of the eyebrow connecting arm assembly 230, and the driving end of the eyebrow driving assembly 220 is connected with the eyebrow The arm assembly 230 or the eyebrow 210 is connected to drive the eyebrows 210 to swing to realize the eyebrow motion or the frowning motion of the eyebrow simulation mechanism 200. In this way, the eyebrow 210 can realize the swing under the driving action of the eyebrow driving component 220, thereby achieving the effect of realistically simulating the movement of the eyebrow organ of the human body, and the other artificial organ components matched with the head structure can make the head structure more Effectively simulate the facial expressions when people are happy or angry, which increases the diversity of the head structure simulation expressions, and thus improves the simulation effect of the bionic robot.

In addition, the eyebrow driving assembly 220 is stably mounted on the support frame 100, and the eyebrows 210 is reliably moved by the eyebrow connecting arm assembly 230. The entire eyebrow simulation mechanism 200 has fewer moving structural members, thereby ensuring reliable movement of the eyebrow 210. Sexuality enables the head structure of the bionic robot to smoothly complete the eyebrow movement or the frowning action. Therefore, the bionic robot of the present invention not only improves the fidelity of the simulated human facial expression, but also has a high degree of automation and reduces the bionics. The operational complexity of the robot.

As shown in FIG. 3, the eyebrow link arm assembly 230 includes a first eyebrow link arm 231 and a second eyebrow link arm 232 that are connected in a direction away from the eyebrow 210, wherein the first eyebrow link arm 231 is remote. One end of the eyebrow 210 is slidably coupled to the second eyebrow link arm 232 along the longitudinal direction of the second eyebrow link arm 232. In this way, when the eyebrow driving assembly 220 is swung by the eyebrow connecting arm assembly 230, the first eyebrow connecting arm 231 and the second eyebrow connecting arm 232 can also undergo relative displacement movement, thereby enabling The eyebrow 210 connected to the first eyebrow connecting arm 231 not only has a degree of freedom of rotation, but also has a degree of freedom of movement in a straight line, thereby making the movement of the eyebrow 210 closer to the eye movement of the real person, avoiding the head structure. The other components cause motion interference to the eyebrow 210 while improving the simulation of the head structure.

As shown in FIG. 3, in order to improve the connection stability between the eyebrow drive assembly 220 and the support frame 100, the eyebrow simulation mechanism 200 further includes a pivot shaft 240, and the second eyebrow connection arm 232 is supported by the pivot shaft 240. The frame 100 is connected, and the axial direction of the pivot shaft 240 is disposed at an angle with the vertical direction. In this way, the eyebrow driving assembly 220 can be tilted and rotated about the pivot shaft 240, so that the eyebrow 210 can be tilted upwardly upward or tilted downwardly, thereby further improving the effect of the head structure simulating a person's facial expression.

As shown in FIG. 3, the support frame 100 includes a top plate 110. The eyebrow drive assembly 220 includes an eyebrow drive steering gear 221 and an eyebrow drive lever 222. The eyebrow drive steering gear 221 is disposed on the top plate 110. The eyebrow drive lever 222 The first end is pivotally coupled to the steering wheel of the eyebrow drive steering gear 221, and the second end of the eyebrow drive lever 222 is pivotally coupled to the first eyebrow attachment arm 231. Thus, the eyebrow drive steering gear 221 acts as a power source for driving the movement of the eyebrow 210, and the steering wheel of the eyebrow driving steering gear 221 swings back and forth in opposite directions, thereby pulling the eyebrow link arm assembly 230 to move the eyebrow. 210 achieves eyebrow movement or frowning action.

As shown in FIG. 2 and FIG. 5 to FIG. 7, the support frame 100 includes a bottom plate 120 and a face support plate 160 disposed on the bottom plate 120. The head structure further includes a face simulation mechanism 300, and the face simulation mechanism 300 includes sequential The connected face drive steering gear 310, the face connecting arm 320, and the face 330, wherein the face driving steering gear 310 is disposed on the face support plate 160, and the face connecting arm 320 and the rudder of the face driving steering gear 310 The discs are connected to drive the face 330 to oscillate to simulate the movement of the muscles at the face.

As shown in FIG. 1 and FIG. 2, both the eyebrow simulation mechanism 200 and the face simulation mechanism 300 are two. The support frame 100 has a longitudinal symmetry plane in the vertical direction, two eyebrow simulation mechanisms 200 and two faces. The simulation mechanisms 300 are symmetrically disposed on both sides of the longitudinal symmetry plane. In this way, the eyebrow simulation mechanism 200 and the face simulation mechanism 300 can realistically simulate the features of the human eyebrows or dimples, making the head structure more vivid and realistic, thereby improving the user experience of the bionic robot.

As shown in FIG. 2 and FIG. 4 to FIG. 7, the support frame 100 includes a bottom plate 120 and an eye support plate 130 connected to the bottom plate 120. The head structure further includes an eye simulation mechanism 400, and the eye simulation mechanism 400 includes an eyeball portion 410. The eyelid portion 420 and the eyelid portion driving assembly 430, the eyeball portion 410 is coupled to the eye support plate 130, the eyelid portion 420 is pivotally coupled to the eye support plate 130, and the eyelid portion 420 is in a closed position and exposed to cover the eyeball portion 410. Movement between the open positions of the eyeball portion 410 causes the eyelid portion drive assembly 430 to move the eyelid portion 420 between the closed position and the open position to effect a blinking action of the eye simulation mechanism 400.

In this way, the movement of the eyelid driving assembly 430 can pull the eyelid portion 420 to move. Since the moving structure of the eye emulation mechanism 400 of the present invention is small, the reliability of the movement of the eyelid portion 420 is ensured, and the bionic robot is smoothly completed. The blinking action improves the fidelity of the biomimetic robot to imitate the facial features, and the bionic robot of the present invention avoids the manual operation of the eye simulation mechanism 400, thereby reducing the complexity of the operation of the head structure of the bionic robot, and further improving the complexity. The degree of automation of bionic robots.

As shown in FIG. 2 and FIG. 4 to FIG. 7, both the eyeball portion 410 and the eyelid portion 420 are two, the support frame 100 has a longitudinal symmetry plane in the vertical direction, and the two eyeball portions 410 are symmetrically disposed on the longitudinal symmetry plane. On the side, the two eyelid portions 420 and the two eyeball portions 410 are disposed one by one. In this way, the eyeball portion 410 and the eyelid portion 420 can realistically simulate the human eye feature, making the head structure of the bionic robot more vivid and realistic, thereby improving people's feelings of using the bionic robot.

Specifically, as shown in FIG. 2, the eyeball portion 410 has a lateral symmetry plane, and the eyelid portion 420 includes an upper eyelid 421 and a lower eyelid 422, and the upper eyelid 421 and the lower eyelid 422 are symmetrically disposed on both sides of the lateral symmetry plane. The relative motion of the upper eyelid 421 and the lower eyelid 422 is used to simulate a blinking motion of a person.

As shown in FIG. 5, the support frame 100 further includes a first motor support plate 140 disposed on the bottom plate 120. The eyelid driving assembly 430 includes an eyelid driving servo 431 and an eyelid driving assembly 432, and the eyelid driving servo 431 is disposed. On the first motor support plate 140, the eyelid driving assembly 432 includes a transition rocker arm 4321 and two eyelid driving levers 4322. One end of the transition rocker arm 4321 is pivotally connected to the steering wheel of the eyelid driving servo 431, two The first end of the eyelid driving rod 4322 is connected to one end of the transition rocker arm 4321 that is remote from the eyelid driving servo 431, and the second ends of the two eyelid driving rods 4322 are pivotally connected to the upper eyelid 421 and the lower eyelid 422, respectively. . The setting of the eyelid driving assembly 430 not only smoothly realizes the relative movement of the upper eyelid 421 and the lower eyelid 422, improves the degree of automation of the head structure, but also enables the eye simulation mechanism 400 to more accurately simulate the movement of the human eye, and the eye The mechanisms of the simulation mechanism 400 are stably moved, and the reliability of the operation of the eye simulation mechanism 400 is improved.

As shown in FIG. 4 and FIG. 5, in order to stably connect the eyeball portion 410 and the eye support plate 130 while ensuring that the eyeball portion 410 has a high degree of rotational freedom, it is possible to realistically simulate a human eyeball feature, the eye portion. The simulation mechanism 400 further includes a support arm 440 and a universal joint 450. The first end of the support arm 440 is coupled to the eye support plate 130, and the second end of the support arm 440 is hinged to the eyeball portion 410 by a universal joint 450.

As shown in FIG. 6, the support frame 100 further includes a top plate 110 and two intermediate ribs 150. The top plate 110 is disposed opposite to the bottom plate 120. The two intermediate ribs 150 are disposed between the top plate 110 and the bottom plate 120 and are spaced apart from each other. The eye simulation mechanism 400 further includes a first eyeball driving assembly 460 including a first eyeball driving steering gear 461, a first eyeball driving lever 462, a rotating lever assembly 463, and a first eyeball follower lever 464, the first eyeball The driving servo 461 is disposed on the bottom plate 120. The first end of the first eyeball driving rod 462 is pivotally connected with the steering wheel of the first eyeball driving servo 461, and the rotating rod assembly 463 is rotatably disposed between the two blocks. Between the ribs 150, the second end of the first eyeball driving rod 462 is hinged with the rotating rod assembly 463 to drive the rotating rod assembly 463 to rotate, and the first end of the first eyeball driven rod 464 pivots with the rotating rod assembly 463. In connection, the second end of the first eyeball follower rod 464 is hinged with the upper end or the lower end of the eyeball portion 410 to drive the eyeball portion 410 to rotate in the vertical direction about the support arm 440. Thus, the vertical rotation of the eyeball portion 410 is smoothly achieved.

Specifically, as shown in FIG. 7 , the rotating rod assembly 463 includes a rotating rod 4631, an active swinging rod 4632 and a driven swinging rod 4633. The rotating rod 4631 is rotatably supported between the two intermediate ribs 150, and the rotating rod 4631 The two ends are respectively passed through two intermediate ribs 150, the active swing rod 4632 is connected with the rotating rod 4631, the first eyeball driving rod 462 is hinged with the active swing rod 4632, and the driven swing rod 4633 is disposed at the end of the rotating rod 4631. The first eyeball follower lever 464 is pivotally coupled to the driven swing lever 4633. Thus, the linkage between the structural members is stably achieved, and the eyeball portion 410 is stably moved.

In the illustrated embodiment of the present invention, in order to facilitate the assembly or manufacturing of the rotating rod assembly 463, the active swing rod 4632 is disposed at an intermediate position of the rotating rod 4631, and the driven swing rod 4633 is located at the center of the intermediate rib 150. One side of the pendulum 4632.

In order to facilitate the rotation of the rotating lever 4631 by the active swing lever 4632 to drive the driven swing lever 4633 to rotate, as shown in FIG. 5 to FIG. 7, the active swing lever 4632 and the driven swing lever 4633 are disposed at an angle.

As shown in FIGS. 6 and 7, the eye emulation mechanism 400 further includes a second eyeball drive assembly 470, and the second eyeball drive assembly 470 includes a second eyeball drive servo 471 and a transmission assembly 472, and the second eyeball drive The steering gear 471 is disposed on the bottom plate 120, and the second eyeball driving servo 471 is coupled to the eyeball portion 410 through the transmission assembly 472 to drive the eyeball portion 410 to rotate in the horizontal direction about the support arm 440. Thus, the right and left rotation of the eyeball portion 410 is smoothly achieved.

As shown in FIG. 6 and FIG. 7, specifically, the transmission assembly 472 includes a transmission rotating rod 4721, a synchronous link 4723, and a second eyeball follower rod 4724. The first end of the transmission rotating rod 4721 is pivotally connected to the bottom plate 120. The second end of the transmission lever 4721 forms a drive dial 4722. The axis of the transmission rod 4721 is parallel to the axis of the steering wheel of the second eyeball driving servo 471. The two ends of the synchronous link 4723 and the second eyeball respectively drive the rudder. The steering wheel of the machine 471 and the driving turntable 4722 are pivotally connected to realize synchronous rotation of the two, the first end of the second eyeball follower rod 4724 is pivotally connected with the driving turntable 4722, and the second eyeball follower is second of the driven rod 4724. The end is hinged to the eyeball portion 410. Thus, the linkage between the structural components of the transmission assembly 472 is stably achieved, and the eyeball portion 410 is stably moved.

As shown in FIGS. 5-7, the support frame 100 includes a bottom plate 120. The head structure further includes a mouth simulation mechanism 500. The mouth simulation mechanism 500 includes an upper jaw portion 510, a lower jaw portion 520, and a lower jaw driving assembly 530. The upper jaw portion 510 Attached to the bottom plate 120, the lower jaw portion 520 is movably disposed on the bottom plate 120, and the lower jaw portion 520 moves in a direction away from the upper jaw portion 510 and in a direction toward the upper jaw portion 510 to simulate opening and closing of the mouth of the human mouth, driving the lower jaw portion The assembly 530 is coupled to the lower jaw 520 to drive the lower jaw 520 away from or toward the upper jaw 510. In this way, the head structure can reliably simulate the motion characteristics of the person's mouth.

Specifically, as shown in FIGS. 5 to 7, the lower jaw portion 520 is rotatably coupled to the bottom plate 120, and the lower jaw driving assembly 530 includes a lower jaw driving steering gear 531 and a lower jaw connecting arm 532, and the lower jaw driving steering gear 531 is disposed at On the bottom plate 120, the first end of the lower jaw connecting arm 532 is pivotally connected to the steering wheel of the lower jaw driving servo 531, and the second end of the lower jaw connecting arm 532 is connected to the lower jaw 520. Thus, the linkage between the structural members of the lower jaw driving assembly 530 is stably achieved, and the lower jaw portion 520 is stably moved.

As shown in FIG. 1 , the head structure further includes a face skeleton 600 connected to the support frame 100 and located on the outer peripheral side of the eyebrow simulation mechanism 200 . The face frame 600 is provided with a plurality of escape holes 610 . In this way, the face skeleton 600 realistically simulates the human facial skeleton, and the human skin can be simulated by providing the soft structure on the facial skeleton 600, and the avoidance hole 610 can cover the eyebrow 210, the eyeball portion 410, the eyelid portion 420, the face 330, and A portion of the upper jaw portion 510 and a portion of the lower jaw portion 520 are exposed to simulate a person's facial features.

It is to be noted that the terminology used herein is for the purpose of describing particular embodiments, and is not intended to limit the exemplary embodiments. As used herein, the singular " " " " " " There are features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in the embodiments are not intended to limit the scope of the invention. In the meantime, it should be understood that the dimensions of the various parts shown in the drawings are not drawn in the actual scale relationship for the convenience of the description. Techniques, methods and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and apparatus should be considered as part of the authorization specification. In all of the examples shown and discussed herein, any specific values are to be construed as illustrative only and not as a limitation. Accordingly, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numerals and letters indicate similar items in the following figures, and therefore, once an item is defined in one figure, it is not required to be further discussed in the subsequent figures.

In the description of the present invention, it is to be understood that orientations such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" and the like are indicated. Or the positional relationship is generally based on the orientation or positional relationship shown in the drawings, and is merely for the convenience of the description of the invention and the simplification of the description, which are not intended to indicate or imply the indicated device or component. It must be constructed and operated in a specific orientation or in a specific orientation, and thus is not to be construed as limiting the scope of the invention; the orientations "inside and outside" refer to the inside and outside of the contour of the components themselves.

For convenience of description, spatially relative terms such as "above", "above", "on top", "above", etc., may be used herein to describe as in the drawings. The spatial positional relationship of one device or feature to other devices or features. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation of the device described. For example, if the device in the figures is inverted, the device described as "above other devices or configurations" or "above other devices or configurations" will be positioned "below other devices or configurations" or "at Under other devices or configurations." Thus, the exemplary term "above" can include both "over" and "under". The device can also be positioned in other different ways (rotated 90 degrees or at other orientations) and the corresponding description of the space used herein is interpreted accordingly.

In addition, it should be noted that the use of the words "first", "second", etc. to limit the components is only to facilitate the distinction between the corresponding components, if not stated otherwise, the above words have no special meaning, so can not understand To limit the scope of protection of the present invention.

It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or order. It is to be understood that the data so used may be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein.

The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims

A head structure of a bionic robot, comprising: a support frame (100) and an eyebrow simulation mechanism (200), the eyebrow simulation mechanism (200) comprising:

Eyebrow (210);

An eyebrow drive assembly (220) disposed on the support frame (100);

An eyebrow link arm assembly (230), a first end of the eyebrow link arm assembly (230) is pivotally coupled to the support frame (100), and the eyebrow (210) is disposed on the eyebrow link arm a second end of the assembly (230), the driving end of the eyebrow driving assembly (220) is coupled to the eyebrow connecting arm assembly (230) or the eyebrow (210) to drive the eyebrow (210) swing.
The head structure according to claim 1, wherein the eyebrow link arm assembly (230) includes a connected first eyebrow link arm (231) in a direction away from the eyebrow (210) and a second eyebrow connecting arm (232), wherein an end of the first eyebrow connecting arm (231) away from the eyebrow (210) is along a length direction of the second eyebrow connecting arm (232) The second eyebrow connection arm (232) is slidably coupled.
The head structure according to claim 2, wherein the eyebrow simulation mechanism (200) further comprises a pivot shaft (240) through which the second eyebrow link arm (232) passes (240) is connected to the support frame (100), and an axial direction of the pivot shaft (240) is disposed at an angle with an vertical direction.
The head structure according to claim 2, wherein the support frame (100) comprises a top plate (110), and the eyebrow drive assembly (220) comprises:

The eyebrow driving steering gear (221) is disposed on the top plate (110);

An eyebrow drive lever (222), a first end of the eyebrow drive lever (222) is pivotally coupled to a steering wheel of the eyebrow drive steering gear (221), and the eyebrow drive lever (222) The two ends are pivotally connected to the first eyebrow link arm (231).
The head structure according to claim 1, wherein the support frame (100) comprises a bottom plate (120) and a face support plate (160) disposed on the bottom plate (120), the head The structure further includes a face simulation mechanism (300) including a face-driven steering gear (310), a face connecting arm (320), and a face (330), which are sequentially connected, wherein The face driving steering gear (310) is disposed on the face support plate (160), and the face connecting arm (320) is coupled with the steering wheel of the face driving steering gear (310) to drive the The face (330) swings to simulate the movement of the muscles at the face.
The head structure according to claim 5, wherein both the eyebrow simulation mechanism (200) and the face simulation mechanism (300) are two, and the support frame (100) has a vertical A longitudinal symmetry plane of the direction, two of the eyebrow simulation mechanism (200) and the two of the face simulation mechanisms (300) are symmetrically disposed on both sides of the longitudinal symmetry plane.
The head structure according to claim 1, wherein the support frame (100) comprises a bottom plate (120) and an eye support plate (130) connected to the bottom plate (120), the head structure Also included is an eye emulation mechanism (400), the eye emulation mechanism (400) comprising:

An eyeball portion (410), the eyeball portion (410) being coupled to the eye support plate (130);

An eyelid portion (420) pivotally coupled to the eye support plate (130), the eyelid portion (420) covering a closed position and exposing the eyeball portion (410) Movement between the open positions of the eyeball portion (410);

An eyelid drive assembly (430) that drives the eyelid portion (420) to move between the closed position and the open position to effect the eye emulation mechanism (400) Blinking action.
The head structure according to claim 7, wherein both the eyeball portion (410) and the eyelid portion (420) are two, and the support frame (100) has longitudinal symmetry in a vertical direction. In plan, two of the eyeballs (410) are symmetrically disposed on both sides of the longitudinal plane of symmetry, and the two eyelids (420) and the two eyeballs (410) are disposed in one-to-one correspondence.
The head structure according to claim 7 or 8, wherein the eyeball portion (410) has a lateral symmetry plane, and the eyelid portion (420) includes an upper eyelid (421) and a lower eyelid (422). The upper eyelid (421) and the lower eyelid (422) are symmetrically disposed on both sides of the lateral symmetry plane.
The head structure according to claim 9, wherein the support frame (100) further comprises a first motor support plate (140) disposed on the bottom plate (120), the eyelid drive assembly ( 430) includes:

The eyelid driving servo (431) is disposed on the first motor support plate (140);

The eyelid driving assembly (432) includes a transition rocker arm (4321) and two eyelid driving levers (4322), and one end of the transition rocker arm (4321) and the eyelid portion drive the steering wheel of the steering gear (431) Pivot connection, the first ends of the two eyelid driving levers (4322) are connected to one end of the transition rocker arm (4321) remote from the eyelid driving servo (431), the two eyelids A second end of the partial drive rod (4322) is pivotally coupled to the upper eyelid (421) and the lower eyelid (422), respectively.
The head structure according to claim 7 or 8, wherein the eye emulation mechanism (400) further comprises a support arm (440) and a universal joint (450), the support arm (440) One end is coupled to the eye support plate (130), and the second end of the support arm (440) is hinged to the eyeball portion (410) by the universal joint (450).
The head structure according to claim 11, wherein the support frame (100) further comprises a top plate (110) and two intermediate ribs (150), the top plate (110) and the bottom plate (120) Relatively disposed, two of the intermediate ribs (150) are disposed between the top plate (110) and the bottom plate (120) and spaced apart, and the eye emulation mechanism (400) further includes a first The eyeball drive assembly (460) includes:

a first eyeball driving servo (461) disposed on the bottom plate (120);

a first eyeball driving lever (462), a first end of the first eyeball driving lever (462) is pivotally connected to a steering wheel of the first eyeball driving steering gear (461);

a rotating rod assembly (463), the rotating rod assembly (463) is rotatably disposed between the two intermediate ribs (150), and the second end of the first eye portion driving rod (462) is The rotating rod assembly (463) is hinged to drive the rotating rod assembly (463) to rotate;

a first eyeball follower rod (464), the first end of the first eyeball follower rod (464) is pivotally coupled to the rod assembly (463), the first eyeball follower rod ( The second end of the 464) is hinged with the upper or lower end of the eyeball portion (410) to drive the eyeball portion (410) to rotate in the vertical direction about the support arm (440).
The head structure of claim 12 wherein said swivel assembly (463) comprises:

a rotating rod (4631), the rotating rod (4631) is rotatably supported between the two intermediate ribs (150), and two ends of the rotating rod (4631) respectively pass through the middle of the two pieces Rib plate (150);

An active swing lever (4632), the active swing lever (4632) is coupled to the swing lever (4631), and the first eyeball drive lever (462) is hinged to the active swing lever (4632);

a driven swing lever (4633), the driven swing lever (4633) is disposed at an end of the rotating lever (4631), a first eyeball follower lever (464) and the driven swing lever (4633) Pivot connection.
The head structure according to claim 13, characterized in that the active swing lever (4632) is disposed at an intermediate position of the rotary lever (4631), and the driven swing lever (4633) is located in the middle The side of the rib (150) faces away from the active rocker (4632).
The head structure according to claim 13, wherein the active swing lever (4632) and the driven swing lever (4633) are disposed at an angle.
The head structure according to claim 11, wherein the eye emulation mechanism (400) further comprises a second eyeball drive assembly (470) comprising:

a second eyeball driving servo (471) disposed on the bottom plate (120);

a transmission assembly (472), the second eyeball driving steering gear (471) is coupled to the eyeball portion (410) through the transmission assembly (472) to drive the eyeball portion (410) around the support arm ( 440) Rotate in the horizontal direction.
The head structure of claim 16 wherein said transmission assembly (472) comprises:

a drive lever (4721), a first end of the drive lever (4721) is pivotally coupled to the bottom plate (120), and a second end of the drive lever (4721) forms a drive dial (4722) The axis of the transmission lever (4721) is parallel to the axis of the steering wheel of the second eyeball driving servo (471);

a synchronous link (4723), two ends of the synchronous link (4723) are respectively pivotally connected with the steering wheel of the second eyeball driving servo (471) and the driving dial (4722) to realize both Synchronous rotation

a second eyeball follower lever (4724), the first end of the second eyeball follower lever (4724) is pivotally coupled to the drive dial (4722), and the second eyeball follower lever (4724) The second end is hinged to the eyeball portion (410).
The head structure according to claim 1, wherein the support frame (100) comprises a bottom plate (120), the head structure further comprising a mouth simulation mechanism (500), the mouth simulation mechanism ( 500) includes:

a top portion (510) fixedly connected to the bottom plate (120);

a lower jaw (520) movably disposed on the bottom plate (120), the lower jaw portion (520) moving in a direction away from the upper jaw portion (510) and in a direction toward the upper jaw portion (510) Simulating the opening and closing of a person's mouth;

A lower jaw drive assembly (530) coupled to the lower jaw (520) to drive the lower jaw (520) away from or toward the upper jaw (510).
The head structure according to claim 18, wherein the lower jaw portion (520) is rotatably coupled to the bottom plate (120), and the lower jaw driving assembly (530) includes:

a lower jaw driving steering gear (531) disposed on the bottom plate (120);

a lower jaw connecting arm (532), a first end of the lower jaw connecting arm (532) is pivotally coupled to a steering wheel of the lower jaw driving servo (531), and the lower jaw connecting arm (532) The two ends are connected to the lower jaw portion (520).
The head structure according to claim 18, wherein the head structure further comprises a face skeleton (600) connected to the support frame (100) and located at the eyebrow On the outer peripheral side of the simulation mechanism (200), a plurality of escape holes (610) are opened in the face frame (600).
A biomimetic robot comprising the head structure of any one of claims 1 to 20.